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DVD Ripper using HandBrake

HandBrake is an open-source, GPL-licensed, multiplatform, multithreaded video transcoder, available for MacOS X, Linux and Windows.

Supported Sources:

Any DVD-like source: VIDEO_TS folder, DVD image or real DVD (unencrypted–protection methods including CSS are not supported internally and must be handled externally with third-party software and libraries), and some .VOB and .TS files

Most any multimedia file it can get libavformat to read and libavcodec to decode.